Payload transport and delivery method, system and multi-platform unmanned cargo delivery vehicle

ABSTRACT

A method of transporting cargo, a cargo transport system and an unmanned Wing In Ground Effect vessel (UWIG) for transporting the cargo. A wake up signal indicates assignment of a new delivery. The UWIG begins pre-flight, causes cargo to be transported to the UWIG, and causes the cargo loaded into UWIG storage compartments. Once loaded and the loaded UWIG is ready, the UWIG taxis, e.g., to the open sea. Environmentally sealed PAR thrust fans provide PAR thrust during takeoff. The UWIG flies to a delivery location where cargo is unloaded, and may be stored.

CROSS REFERENCE TO RELATED APPLICATION

The present application claims benefit to provisional U.S. ApplicationSer. No. 62/693,715 (Attorney Docket No. MRFS001-P),“WING-IN-GROUND-EFFECT (WIG) CRAFT,” filed Jul. 3, 2018, andincorporated herein by reference.

BACKGROUND OF THE INVENTION Field of the Invention

The present invention is related to a cargo transport and deliverymethod, system and autonomous multi-platform unmanned delivery vehiclefor the system, and more particularly, to transporting and deliveringcargo with an unmanned Wing In Ground Effect (WIG) craft or vessel thatmay be autonomous or semi-autonomous.

Background Description

Overseas shipping is big business. Enormous cargo ships continuallytraverse shipping lanes in international waterways, carrying largeshipments of goods enclosed in containers the size of railroad cars todistant destinations that take days to reach. Each container can hold aportion of a much larger shipment, can contain a single smallershipment, or include a collection of smaller shipments. Frequently,shipping an order that does not fill a container means that the ordermay wait on the dock for enough other small orders to fill thecontainer. So it can easily take weeks from the shipping date for anorder to arrive at its destination. Typically, someone shipping a smallshipment may be unwilling to wait days or weeks. Also, some cargo, suchas food or other perishables, may not survive an extended shipping time.

Alternately, airfreight is available for timely shipping smallershipments. Typically, ground transport carries parcels to/from airportswhere a fleet of aircraft transport cargo between the airports. Whileinternational airfreight may be a reasonable solution for letters andeven for small packages, the cost may be excessive for larger shipments,shipments that may be a relatively small portion of a shippingcontainer. DHL, for example, applies a fixed surcharge to every piece,including a pallet, that exceeds the scale weight of 1501b (70 kg) orwith a single dimension in excess of 48 in (120 cm). Further, DHL doesnot accept shipping pieces, skids or pallets with an actual weight thatexceeds 6601b (300 kg) or a size that exceeds 118 in (300 cm) in length,width or height. Thus, shipping medium sized shipments may requirechoosing between a seagoing shipper with a moderate shipping cost and along lead time, or by air with a shorter delivery time, e.g., overnight,in exchange for paying a premium shipping rate.

For both air and sea shipping, in addition to exposure to property lossfrom a potential maritime disaster, there is a potential for a loss oflife. A ship that sinks at sea may suffer the loss of the entire crew.Likewise a cargo plane typically has a pilot and copilot. A cargo planethat goes down at sea may suffer the loss of one or both of the pilotand copilot.

Thus, there is a need for an efficient, flexible approach to shipping,and especially for medium sized shipments, and especially, without thepotential of loss of crew.

SUMMARY OF THE INVENTION

A feature of the invention is a system for medium range shipping;

Another feature of the invention is a system for medium range overseasshipping for medium sized shipments;

Yet another feature of the invention is a system for medium rangeshipping that is free of any potential for loss of on-board human life;

Yet another feature of the invention is a system for medium rangeoverseas shipping for medium sized shipments without the potential forloss of on-board human life.

The present invention relates to a method of transporting cargo, a cargotransport system and an Unmanned Wing In Ground Effect vessel (UWIG) fortransporting the cargo. A wake up signal indicates assignment of a newdelivery. The UWIG begins pre-flight, causes cargo to be transported tothe UWIG, and causes the cargo loaded into UWIG storage compartments.Once loaded and the loaded UWIG is ready, the UWIG taxis, e.g., to theopen sea. Environmentally sealed PAR thrust fans provide PAR thrustduring takeoff. The UWIG flies to a delivery location where cargo isunloaded, and may be stored.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and other objects, aspects and advantages will be betterunderstood from the following detailed description of a preferredembodiment of the invention with reference to the drawings, in which:

FIG. 1 shows an example of a preferred cargo transport and deliverysystem;

FIGS. 2A-C shows an example of a preferred UWIG in top, front and sideviews, respectively;

FIG. 3 shows an example of the power and control system for a preferredUWIG;

FIGS. 4A-B show an example of operating states in operation of apreferred UWIG;

FIGS. 5A-B show operation of a preferred system from start of a newshipment through takeoff, in-transit through delivery at the shippingdestination.

DESCRIPTION OF PREFERRED EMBODIMENTS

As will be appreciated by one skilled in the art, aspects of the presentinvention may be embodied as a system, method or computer programproduct. Accordingly, aspects of the present invention may take the formof an entirely hardware embodiment, an entirely software embodiment(including firmware, resident software, micro-code, etc.) or anembodiment combining software and hardware aspects that may allgenerally be referred to herein as a “circuit,” “module” or “system.”Furthermore, aspects of the present invention may take the form of acomputer program product embodied in one or more computer readablemedium(s) having computer readable program code embodied thereon.

Any combination of one or more computer readable medium(s) may beutilized. The computer readable medium may be a computer readable signalmedium or a computer readable storage medium. A computer readablestorage medium may be, for example, but not limited to, an electronic,magnetic, optical, electromagnetic, infrared, or semiconductor system,apparatus, or device, or any suitable combination of the foregoing. Morespecific examples (a non-exhaustive list) of the computer readablestorage medium would include the following: an electrical connectionhaving one or more wires, a portable computer diskette, a hard disk, arandom access memory (RAM), a read-only memory (ROM), an erasableprogrammable read-only memory (EPROM or Flash memory), an optical fiber,a portable compact disc read-only memory (CD-ROM), an optical storagedevice, a magnetic storage device, or any suitable combination of theforegoing. In the context of this document, a computer readable storagemedium may be any tangible medium that can contain, or store a programfor use by or in connection with an instruction execution system,apparatus, or device.

A computer readable signal medium may include a propagated data signalwith computer readable program code embodied therein, for example, inbaseband or as part of a carrier wave. Such a propagated signal may takeany of a variety of forms, including, but not limited to,electro-magnetic, optical, or any suitable combination thereof. Acomputer readable signal medium may be any computer readable medium thatis not a computer readable storage medium and that can communicate,propagate, or transport a program for use by or in connection with aninstruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmittedusing any appropriate medium, including but not limited to wireless,wireline, optical fiber cable, RF, etc., or any suitable combination ofthe foregoing.

Computer program code for carrying out operations for aspects of thepresent invention may be written in any combination of one or moreprogramming languages, including an object oriented programming languagesuch as Java, Smalltalk, C++ or the like and conventional proceduralprogramming languages, such as the “C” programming language or similarprogramming languages. The program code may execute entirely on theuser's computer, partly on the user's computer, as a stand-alonesoftware package, partly on the user's computer and partly on a remotecomputer or entirely on the remote computer or server. In the latterscenario, the remote computer may be connected to the user's computerthrough any type of network, including a local area network (LAN) or awide area network (WAN), or the connection may be made to an externalcomputer (for example, through the Internet using an Internet ServiceProvider).

Aspects of the present invention are described below with reference toflowchart illustrations and/or block diagrams of methods, apparatus(systems) and computer program products according to embodiments of theinvention. It will be understood that each block of the flowchartillustrations and/or block diagrams, and combinations of blocks in theflowchart illustrations and/or block diagrams, can be implemented bycomputer program instructions. These computer program instructions maybe provided to a processor of a general purpose computer, specialpurpose computer, or other programmable data processing apparatus toproduce a machine, such that the instructions, which execute via theprocessor of the computer or other programmable data processingapparatus, create means for implementing the functions/acts specified inthe flowchart and/or block diagram block or blocks.

These computer program instructions may also be stored in a computerreadable medium that can direct a computer, other programmable dataprocessing apparatus, or other devices to function in a particularmanner, such that the instructions stored in the computer readablemedium produce an article of manufacture including instructions whichimplement the function/act specified in the flowchart and/or blockdiagram block or blocks.

The computer program instructions may also be loaded onto a computer,other programmable data processing apparatus, or other devices to causea series of operational steps to be performed on the computer, otherprogrammable apparatus or other devices to produce a computerimplemented process such that the instructions which execute on thecomputer or other programmable apparatus provide processes forimplementing the functions/acts specified in the flowchart and/or blockdiagram block or blocks.

The flowcharts and block diagrams in the Figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods and computer program products according to variousembodiments of the present invention. In this regard, each block in theflowchart or block diagrams may represent a module, segment, or portionof code, which comprises one or more executable instructions forimplementing the specified logical function(s). It should also be notedthat, in some alternative implementations, the functions noted in theblock may occur out of the order noted in the figures. For example, twoblocks shown in succession may, in fact, be executed substantiallyconcurrently, or the blocks may sometimes be executed in the reverseorder, depending upon the functionality involved. It will also be notedthat each block of the block diagrams and/or flowchart illustration, andcombinations of blocks in the block diagrams and/or flowchartillustration, can be implemented by special purpose hardware-basedsystems that perform the specified functions or acts, or combinations ofspecial purpose hardware and computer instructions.

Turning now to the drawings and more particularly, FIG. 1 shows anexample of a preferred cargo transport and delivery system 100. Wing InGround Effect (WIG) craft or vessels 102, particularly unmanned vessels(UWIGs), transport cargo over a waterway between a shipping station orport 104 and a delivery destination or port 106, pier to pier in thisexample. It should be noted that craft and vessel are usedinterchangeably herein unless indicated otherwise and UWIG refers to anunmanned WIG craft. The UWIGs 102 may be semi-autonomous (remotelyoperated) or, preferably, operates autonomously, flying above a body ofwater 108 at low altitude. Preferably also, the UWIG 102 employs PowerAugmented Ram (PAR) thrust for low speed takeoff.

At each port 104, 106 cargo loaders 110 load or unload cargo (notshown), and move the cargo between the UWIGs 102 and a local terminal112 or warehouse 114. Preferably, cargo loaders 110 are InternationalAir Transport Association (IATA) standard unit load devices (LD or ULD),i.e., standard pallets or containers. The ports 104, 106 may include astandard floating pier for docking with loading and unloadinginteractive. Preferably however, ports 104, 106 are fitted forcommunicating with UWIG 102 control, whether autonomous orsemi-autonomous, and adapted for increased efficiency with ramps andtransfer elevators (not shown) adapted for full autonomy. Thus, thecargo loaders 110 may also be unmanned and operate autonomously or,preferably, semi-autonomously, communicate wirelessly with the localterminal 112 or warehouse 114, e.g., through WiFi or a cellularconnection. Preferably also, the UWIG 102 has a distance wirelesscommunications capability, e.g., through a cellular connection or bysatellite 116.

WIG principles of flight are well known in the art and WIG craftoperates under a peculiar aerodynamic phenomenon known as the groundeffect. Ground effect occurs at a relatively low altitude where thedistance between the wings of a craft and the surface beneath it causesan aerodynamic interaction between the wings and the surface. Thataerodynamic interaction creates a cushion of high-pressure air beneaththe craft that increases lift. So, a WIG craft, also called a GroundEffect Vehicle (GEV), operates at low altitude to take advantage ofground effect, essentially floating above the surface on thehigh-pressure air cushion.

Thus, a typical WIG vessel is a hybrid, part boat and part aircraft,piloted and co-piloted by humans. WIG designs are subject to a number ofdifficult issues that have discouraged widespread commercial adoption. Atypical WIG vessel design is aircraft based and combines marine,aviation, wing, air cushion, aerodynamic and hydrodynamic theories inlow altitude flight. The International Maritime Organization (IMO)categorizes WIG vessels as type A, B or C. Type A and B are classifiedand licensed as marine vessels and operate under IMO rules.

PAR thrust diverts exhaust gases, e.g., from jet engines or propellerslipstream, under the wings to allow takeoff at lower speeds than wouldotherwise be required. The exhaust gases from either the main engines orspecial assist engines accelerate air ducted, deflected or directed, topass beneath the WIG wings and/or body, assisting in creating the aircushion.

The Russian Ekranoplan models KM and Lun, for example, only use PARthrust during takeoff. The jet engines for these models are forward ofthe wing, deflecting the thrust downwards under the wings until thecraft is airborne and at speed producing sufficient lift without the PARthrust. The KM requires ten turbojets for sufficient takeoff power ofwhich eight are dedicated for PAR thrust. After takeoff and in levelflight, the PAR engines may be throttled back extensively or,alternately, some may be shut off. These PAR thrust engines addedconsiderable additional weight to the craft, that consumes fuel evenwith the engines powered off. Further, during transoceanic travel theturbojets would ingest corrosive saltwater during takeoff and landing,that provided Ekranoplan operators with additional maintenancechallenges.

FIGS. 2A-C shows an example of a preferred UWIG 102 of FIG. 1 in top,front and side views, respectively. The preferred UWIG 102 is amulti-platform, fully or partially, autonomous craft with both surfaceand low altitude air capabilities. As a seaworthy maritime vessel, theUWIG 102 can taxi like a boat between a loading peer and the open sea.As a dynamic flight capable craft, the UWIG 102 can takeoff and fly atlow altitude above the surface (below 492 feet (150 meters)) of a sea, alake or a river. Thus, the preferred UWIG 102 is maritime capable,optimized for aerodynamics, stability and control, preferably withautomatic sense and avoidance. Traveling at low altitude the UWIG 102adheres to IMO Type B WIG classification, and is capable of followingroutes selected to optimize delivery times and for fuel efficiency.

Remotely controlled the UWIG 102 is a multi-platform drone. For longrange travel, the UWIG 102 control may be over satellite 116 and/orground based (e.g., cellular) communication. For example, the U.S.military regularly controls drone operations remotely, even half of theWorld away, using satellite communications. A preferred autonomous UWIG102 also uses satellite communications and/or, where available, groundbased communications connecting as frequently as practicable to forwardtravel progress and selectively forward telemetry data. In addition toautonomous in-transit (in-sea and in-air) operation, the preferredautonomous UWIG 102 navigates/operates autonomously in or aroundstationary objects and other stationary and mobile vessels, and loadsand unloads autonomously. Preferably also, whether fully or partiallyautonomous or under remote control, the UWIG 102 operates free from anyon-board human presence, pilot or otherwise, which eliminates thepotential for any loss of human life from loss of the UWIG 102.

The preferred UWIG 102 includes, e.g., a 65-70′ (18-22 m) long floatingfuselage 120 with a 10′ (3 m) beam, and two (2) 20′ (6 m)aerodynamically reverse delta scooping wings 122 for 50′ (15 m)wingspan. The fuselage 120 has several operational modes including anamphibian mode, a displacement mode, a transitional mode a planing mode,a takeoff/landing mode, a ground effect mode and a fly-over mode. Foradded buoyancy the floating fuselage 120 may be supplemented with a pairof floats 120F.

In amphibian mode the UWIG 102 is supported mainly by a static aircushion and moves slowly above a surface other than water, e.g., overice, a sandy beach, sand bars or marshland. In displacement mode,whether at rest or in motion, the weight of the UWIG 102 is fully orpredominantly supported hydrostatically, typically while taxiing. Intransitional mode the UWIG 102 transitions between displacement mode andplaning mode. In planing mode the UWIG 102 is hydroplaning in steadystate, supported mainly hydro-dynamically on the surface of a body ofwater. Takeoff/landing mode is the transient mode between planing modeand ground effect mode. Ground effect mode is steady state low altitudeflight. The UWIG 102 can enter fly-over mode to avoid surface obstacles,increasing altitude slightly for a limited period, while maintaining aminimal safe altitude within maritime regulations.

The fuselage 120 is capable of holding cargo, e.g., loaded through cargohold door(s) 124, a bow/nose hatch in this example. Fully loaded and inthe water, the fuselage 120 keel (not shown) may rest on a firm surface,e.g., a harbor or river bottom, or when floating the draft is such thatthe wings 122 are at or above the water surface. Two (2) rear mountedpropellers 126 may be driven by one or more standard gas engine (notshown), e.g., a standard marine, automobile or light truck engine. Two(2) forward mounted, lightweight fans 128 driven by one or more heavyduty electric motor (not shown), provide hybrid-electric PAR thrustduring takeoff and, if necessary, landing and during flight. Thepreferred heavy duty electric motor is a 762 horsepower (762 HP), 568kilowatt (568 kW) variable speed motor. Preferably, the gas engine(s)powering the rear propellers 126 also generates sufficient electricityto serve as a power source for the electric motor driving thrust-assistfans 128, and serves as a charger for the 100 kWh battery/battery pack.Sensors 130 distributed about the vessel 102 sense environmentalconditions and activity, e.g., wave activity, nearby airborne and marineactivity and ambient weather related activity. Sensor data passes to oneor more on board controller computer guiding, or assisting guiding, theUWIG 102, as well as providing periodic progress and status.

Attached to each wing 122 outboard pontoons 132 provide stability in thewater and may include underwater fan thrusters 134. Preferably, theunderwater fan thrusters 134 are variable speed, 54 kW electric motordriven (73 hp @6,300 rpm), water-sealed, 5.75′ (260 mm) axial flow,single stage, ducted fans. Optionally, the fan thrusters 134 may beshaft driven from the engine(s). Primarily, the underwater fan thrusters134 provide short range movement for positioning the UWIG 102 in port,e.g., while taxiing and docking or undocking.

UWIG empennage 136 includes vertical and horizontal stabilizers 136V,136H, two elevators 136E and a rudder 136R. The on-board controllercomputer(s) translate detected wave height amplitude into pneumatic,hydraulic, electromechanical action to control actuators and servossteering the UWIG 102. Preferably, the UWIG 102 is capable of lowaltitude flight, below internationally restricted airspace, i.e.,30-300′ (9-90 m) above the surface, coupled with medium to long rangetrip capability for delivering goods to/from ports, ships, beaches orboat ramps. So, depending on payload and weather a preferred UWIG 102has a delivery range, up to one thousand kilometers (1000 Km).

Thrust-assist fans 128 are environmentally sealed and provide PAR thrustfor an alternate thrusting force to lift UWIG 102, especially intakeoff. Because the thrust-assist fans 128 are environmentally sealed,the electric motors do not ingest saltwater, protecting sensitive motorcomponents from corrosive saltwater.

In this example, the thrust-assist fans 128 are mounted on canards 138attached to the fuselage 120. Optionally, the canards are positionable,e.g., articulating, rotatable or otherwise positionable, for an extralifting surface during take-off and landing. Alternately, the canards138 can be fixed, mounted parallel to airflow (with the wings 122) withthe thrust-assist fans 128 selectively articulating independently tosupply PAR thrust airflow under the wings 122.

FIG. 3 shows an example of the power and control system 140 for apreferred UWIG, e.g., 102 in FIGS. 1 and 2A-C. One or more gas engine(s)142, preferably two, rear mounted high performance marine, car or truckengines, drive main propellers (126 in FIG. 2) and torque a shaft 144driving the on-board electric power source, a magneto-electricgenerator, such as typical automotive alternator 146 in this example.Preferably, each gas engine 142 are commercial available engines capableof providing up to five hundred horsepower (500 Hp). Alternately, aseparate gas generator (not shown) may be internally mounted forcharging batteries even when the gas engine(s) 142 are shut down.

The generator 146 supplies power for the PAR thrust-assist fan 128motor(s), subsurface fan thrusters 134, the on-board controllercomputer(s) 148 and, where necessary, any other on board electricalequipment, e.g., sensors 130, cameras 150, pneumatic or electricactuators 152A and servos 152S, navigational electronics 154, beacons156, running lights 158, one or more terrestrial or satellite 116transponders, e.g., cell or satellite phone based, and provides acharger for auxiliary 100 kWh power storage batteries/battery pack 162.

The controller, e.g., computer(s) 148, manages the on board electricalequipment, autonomously or semi-autonomously, to control all aspects ofUWIG 102 operation to stabilize the UWIG 102, including controllingroll, flight trim, pitch, yaw and heave, heading and altitude. Althoughshown here as a single computer 148, it is understood that control maybe distributed to multiple on-board computers for redundancy and/or forcooperatively controlling different aspects of operation, e.g., loadingand unloading, flight and taxiing.

The controller 148 uses sensor 130 data to detect, preferably usingadaptive learning, ambient conditions for approximating a minimum flighttrajectory and flight course. The controller 148 controls actuators 152Athat control: fuel supplied to the gas engine(s) 142 driving mainpropellers 126, vary the stabilizers 136V, 136H, the elevators 136E, therudder 136R and operate the thrust-assist fan 128 motors. Thethrust-assist fans 128 provide the pressure differential beneath thewings 122 that creates the PAR air cushion facilitating take-off. Thethrust-assist fans 128 may also provide additional pitch, yaw, and rollsupport during flight.

Between flights, in the water, the controller 148 also controls theelectrically powered underwater fan thrusters 134, e.g., for taxiing inand out of port and docking. While docked, the controller 148 normallypowers down everything except at least one transponder 160. Thetransponder 160 waits for a wake-up call that signals to beginpreparation for the next delivery.

FIGS. 4A-B show an example of operating states in operation 200 of apreferred UWIG, e.g., 102 with reference to the preferred system 100 ofFIG. 1. Preferably, there are four primary states that include inaddition to docked 300, pre-flight 400, in-flight 500 and post flight600. Also, the UWIG 102 can refuel 700 at any time, as needed. The UWIG102 typically refuels 700 while in-port 104, 106, e.g., docked 300, orafter being diverted, planned or unplanned, during flight 500.

Pre-flight 400 includes a pre-flight checklist state 410, a cargo loadstate 420, a takeoff checklist state 430 and an on-surface navigationstate 440, taxiing to a takeoff location, e.g., sortieing a harbor orbay. A delivery can be aborted at any time, especially pre-flight 400,and as described in more detail hereinbelow. Aborting causes the UWIG102 to remain, or return to, docked 300, e.g., for needed servicing.Post flight 600 includes landing and on-surface navigation 610, e.g.,taxiing a harbor or bay at a destination, and unloading 620. Unloading620 can be done when and where the UWIG 102 moors, or at apre-determined unloading station, prior to docking 300.

FIGS. 5A-B show operation of a preferred system (100 in FIG. 1) fromstart of a new shipment through takeoff 2000, in-transit throughdelivery at the shipping destination 2100, with reference to FIGS. 4A-B.Docked 300 the UWIG 102 is moored at either port 104, 106, betweendeliveries with most electronics in sleep mode 3000, powered down oroff. A wake up signal 3100 to transponder, e.g., 160 in FIG. 3,initiates a full or partial power up 3200 and the UWIG 102 enterspre-flight mode 400 for a new delivery.

In pre-flight mode 400 the controller 148 first conducts 410 apre-flight checklist 4110 to determine 4120 whether the UWIG 102 is a goor no go for a new delivery. If the pre-flight checklist 4110 runthrough is unsuccessful, the UWIG 102 returns 4120 a no go signalindicating that service may be required, returns to sleep mode 3000, andmay, for example, signal or schedule 4130 necessary maintenance/repair.

If however, the UWIG 102 passes the pre-flight checklist 4110, thecontroller 148 returns 4120 a go signal through transponder 160, anddownloads a flight plan 4210. Optionally, the controller 148 may alsodownload any available system updates/upgrades. The go signal alsoinitiates a cargo load 4220. Loading 4220 may be partially or fullymanned or, preferably, autonomously controlled, e.g., using a logisticsubsystem such as the integrated Mendelssohn Freight Services (MFS)delivery system. The preferred logistic subsystem interacts withcontroller 148 in positioning port ramps and transfer elevators, as wellas managing UWIG 102 loading operations. A preferred logistic subsystemincludes a real-time operational mapping and tracking facility capableof informing clients of LD, pallet and/or UWIG 102 location and loadingstate in real time.

Preferably, cargo is pre-loaded in pods on cargo loaders, e.g., LD's 110fitted for the UWIG 102. The port 104 is responsible for pre-loadingcargo into the LDs 110 and transporting the pods to the docked UWIG 102.Once at the dock and, for example, loaded onto a conveyor (not shown),the controller 148 may take over loading 4220, opening cargo door 124,positioning and locking the LDs 110 into position. Once all LDs 110 areloaded and locked into position, loading 4220 is complete and thecontroller 148 closes cargo door 124.

After closing cargo door 124, the controller 148 runs a take-offchecklist 4310 on the UWIG 102. Again, if the take-off checklist 4310run through is unsuccessful, the delivery is a no go 4320. The UWIG 102returns to the docked state 300 and may signal or schedule 4130 requiredservice. Otherwise, delivery is a go 4320 and the controller 148 setsthe flight course 4330. The controller 148 signals 4340 readiness tounlock UWIG 102 from the dock, e.g., to the port harbormaster. When theport returns an OK to depart signal 4350, the UWIG 102 casts off 4360.

Next, following appropriate maritime rules the floating UWIG 102 taxis4410 for takeoff, e.g., from the shipping station pier 104 and, sorties4420 the harbor for a clear takeoff. The controller 148 may use PARthrusters 128 and/or underwater fans 138 to maneuver the UWIG 102 intotaxi traffic. Then, after sortieing the harbor, the UWIG 102 taxis to atake-off location 4430, preferably away for designated shipping lanesand under power from the main propellers 126.

Once at the takeoff location 4430, e.g., in the open sea, the controller148 tracks a clear takeoff path for a takeoff distance based on, e.g.,wave height, traffic distance prediction, wind speed and direction,payload weight, center of gravity (CG) and obstacle avoidance. The UWIG102 activates PAR thrust and increases speed to takeoff 4430, and beginslow altitude flight 5010 to its delivery destination.

In-flight 5010 the controller 148 collects and uses real-time telemetrydata on flight speed and forward wave height to set UWIG 102 altitudeand control pitch and yaw. In the air the UWIG 102 cruises at lowaltitude and on the surface operates as a maritime vessel. Thus, eachdelivery may follow, but is not restricted to follow, existing shippinglanes. Moreover, the controller 148 has a marine autopilot capability,and can auto redirect the UWIG 102 when necessary, to avoid inclementweather or collisions with other, traditional maritime vessels of allsizes. For example, the Garmin solid-state 9-axis Attitude HeadingReference System (AHRS), the GI-1P Reactor™ autopilot series is suitablefor facilitating the controller 148 in holding course, even whilepitching and rolling in rough water. This marine autopilot capabilityalso reduces heading errors, course deviations, and rudder movement,while minimizing power consumption.

In transit the flight conditions may change 5020. The controller 148selectively updates 5030 the estimated time of arrival (ETA). Thecontroller 148 tracks and periodically 5040 relays ship position 5050,e.g., for emergency UWIG 102 and cargo recovery. Also, depending on theETA, distance to the delivery destination, payload and real-time UWIG102 range capability, the controller 148 may divert the flight forrefueling 700, as necessary.

Upon arriving at the delivery destination 5040, post flight 600, theUWIG 102 approaches 6110 a landing location in open water, e.g., near aharbor entrance. Still in open sea the controller 148 again tracks aclear landing path 6120 and unassisted or under remote control, lands6130 the UWIG 102. Once floating on the surface, the UWIG 102 taxis 6140to an unloading pier, e.g., to dock 300 at destination pier 106. Thus, apreferred autonomous UWIG 102 is capable of navigating a busy portlocation, targeting a loading pier and docking 300 itself in position.

After docking 300 the UWIG 102 initiates a cargo unload 620,substantially in reverse of the cargo load 420. The controller 148communicates a cargo ready signal 6210 to the port indicating arrival,and preferably, also indicates fuel level, system status, power levelsand any faults and/or damage incurred during the delivery trip. Afterunloading 6220 cargo, the UWIG 102 may refuel 700 and/or begin the nextshipment by downloading new flight instructions, or return to sleep mode3000 to wait for a wakeup signal or service. Alternately, the UWIG 102may return to its originating port 104 and refueling 700 may bepostponed until the next wake up.

Advantageously, a preferred cargo transport and delivery systemminimizes the potential for any loss of life and is free of expensiveinfrastructure requirements, such as a runway or shipping facilities.This requirement flexibility makes fitting any port for loading andunloading a UWIG relatively cheap and quick. Takeoff and landing aredirectly from the open sea, for example, providing an unlimited lengthrunway accelerating to speed, even with a heavy cargo and full fuelload. Any open seaway can serve as an emergency landing “strip.” Thepreferred UWIG is pilotless and passenger free. Thus even if the UWIGand any cargo are completely destroyed or lost at sea during transit,e.g., the UWIG sinks after an emergency landing, there only a propertyloss, i.e., the UWIG and cargo.

Moreover, a preferred UWIG travels nearly unrestricted, able to avoidroads interrupted by traffic lights, or congestion from accidents andconstruction. Nor is a preferred UWIG restricted to flying traditionalair routes in restricted airspace and limited by governmental airtraffic regulations. Instead, traveling at low altitude (below 492 feet)in adherence to the IMO Type B WIG classification, the UWIG can useroutes selected to optimize delivery times and fuel efficiency. In theair the preferred UWIG flies an order of magnitude faster than a shipwith little or no wake. So speed is not restricted by surfacerestrictions, such as in no-wake zones.

Sealed electric PAR motors avoid ingesting saltwater. So, sensitive PARmotors components are not exposed to corrosive saltwater, which hasplagued the Ekranoplan turbines. Since the UWIG preferred flightengine(s) runs on low cost maritime fuel instead of higher cost aviationfuel, cargo transportation by the preferred cargo transport and deliverysystem provides a considerable cost savings. The preferred Type B UWIGcan quickly climb to a sufficient altitude, e.g., a couple of hundredfeet (but below 492′), to avoid slower moving surface vessels orstationary obstacles (e.g., bridges), even when unexpected.

Further, as a multi-platform vehicle, in the air the UWIG is free ofdraft depth limitations, does not run aground and avoidsinjuring/destroying aquatic life. Thus, the UWIG travel freely overfrozen bodies of water or shallow areas, e.g., shorelines, beach/sandbars, tides, river rapids, reefs, floating debris, icebergs orsubsurface mines. Nor do underwater currents affect cruising speed,navigation and performance, even in rough seas.

While the invention has been described in terms of preferredembodiments, those skilled in the art will recognize that the inventioncan be practiced with modification within the spirit and scope of theappended claims. It is intended that all such variations andmodifications fall within the scope of the appended claims. Examples anddrawings are, accordingly, to be regarded as illustrative rather thanrestrictive.

What is claimed is:
 1. A method of transporting cargo, said methodcomprising: receiving an indication of assignment of a new delivery;transporting cargo from local storage to an unmanned Wing In GroundEffect vessel (UWIG) with one or more storage compartments; loading saidcargo into said one or more storage compartments; taxiing to a take-offlocation; flying said UWIG from said take-off location to a deliverylocation; and unloading said cargo.
 2. A method as in claim 1, beforetransporting cargo to said UWIG said method further comprising:initiating a UWIG system power up responsive to said indication;conducting a pre-flight checklist; and selectively initiatingtransporting and loading said cargo responsive to results of saidpre-flight checklist.
 3. A method as in claim 2, wherein when saidresults indicate checklist failure said UWIG aborts delivery and returnsto a powered down state, and otherwise said UWIG initiates transportingand loading.
 4. A method as in claim 1, wherein upon arrival of saidcargo at said UWIG, loading said cargo is managed from said UWIG.
 5. Amethod as in claim 1, before taxiing said method further comprising:conducting a pre-takeoff checklist; and selectively initiating taxiingresponsive to results of said pre-takeoff checklist.
 6. A method as inclaim 5, wherein when said results indicate checklist failure said UWIGaborts delivery and returns to a local dock, and otherwise said UWIGtakes off.
 7. A method as in claim 1, wherein upon arrival of said UWIGat said delivery location, said method further comprises: taxiing to anunloading dock; and said UWIG managing unloading said cargo.
 8. A methodas in claim 7, after cargo is unloaded said method further comprisingreturning to a powered down state.
 9. A method as in claim 1, whereinsaid UWIG is capable of fully autonomous operation.
 10. A method as inclaim 1, said UWIG receiving said indication of assignment andinitiating transporting cargo.
 11. A cargo transport system comprising:at least one unmanned Wing In Ground Effect vessel (UWIG) with one ormore cargo storage compartments; an origination port with docking spacefor, and selectively communicating with, said at least one UWIG; adestination port with docking space for, and selectively communicatingwith, said at least one UWIG, said at least one UWIG transporting cargobetween said origination port and said destination port; and cargoloaders transporting cargo between said at least one UWIG and localstorage at each of said origination port and said destination port. 12.A cargo transport system as in claim 11, said at least one UWIGincluding wireless communications transceiver, messages to said wirelesscommunications transceiver selectively indicating assignment of a newcargo shipment, said at least one UWIG initiating transporting said newcargo.
 12. A cargo transport system as in claim 11, said at least oneUWIG including wireless communications transceiver, said at least oneUWIG wirelessly communicating with said origination port and saiddestination port, and initiating loading and unloading cargo throughsaid wireless communications transceiver.
 13. A cargo transport systemas in claim 12, new shipment messages to said at least one UWIGindicating assignment of a new cargo shipment wirelessly, said at leastone UWIG selectively initiating transporting said new cargo responsiveto an indicated assignment.
 14. A cargo transport system as in claim 13,said at least one UWIG wirelessly communicating with a cargotransportation service, selected messages from said cargo transportationservice being said new shipment messages.
 15. A cargo transport systemas in claim 12, wherein said at least one UWIG is remote controlled(RC), RC being provided wirelessly through said wireless communicationstransceiver.
 16. A cargo transport system as in claim 12, wherein saidat least one UWIG is fully autonomous, said at least one UWIG providingprogress updates wirelessly through said wireless communicationstransceiver.
 17. A cargo transport system as in claim 12, wherein saidcargo loaders are remote controlled (RC), said at least one UWIGwirelessly providing RC to respective said cargo loaders during loadingand unloading.
 18. A cargo transport system as in claim 17, whereincargo for transportation is contained in pods transported by said cargoloaders, a cargo loader at said origination port moving said pods fromport storage to one or more cargo doors at a respective UWIG undercontrol of the UWIG, said UWIG moving said pods to said one or morecargo storage compartments and locking said pods in place.
 19. A cargotransport system as in claim 17, wherein during transportation cargo iscontained in pods locked in place in said one or more cargo storagecompartments in a respective UWIG, the UWIG opening one or more cargostorage compartment doors, unlocking said pods, and providing said podsto a cargo loader at said destination port, said cargo loader movingsaid pods from one or more cargo doors to destination port storage atunder control of said UWIG.
 20. A cargo transport system as in claim 11,said at least one UWIG comprises: a seaworthy fuselage, said one or morecargo storage compartments contained within said seaworthy fuselage; apair of reverse swept gull wings attached to said seaworthy fuselage; apair of rear mounted propellers providing airborne propulsion; one ormore engines fueled with marine fuel and driving said pair of rearmounted propellers; a pair of Power Augmented Ram (PAR) thrust variablespeed electric fans, each mounted on a respective one of said pair ofreverse swept gull wings; a pair of pontoons, each mounted on arespective one of said pair of reverse swept gull wings; a pair ofunderwater fan thrusters, each mounted on a respective one of said pairof pontoons; and an on board controller providing control to the one ormore engine, PAR thrust fans and underwater fan thrusters for surfacemaneuvering, taxiing and flying said UWIG.
 21. An unmanned Wing InGround Effect vessel (UWIG) comprising: a seaworthy fuselage withinternal cargo space; a pair of wings attached to said seaworthyfuselage; a pair of rear mounted propellers; a pair of Power AugmentedRam (PAR) thrust variable speed electric fans, each mounted forward of arespective wing; a pair of pontoons, each mounted on a respective wing;a pair of underwater fan thrusters, each mounted on a respective pontoonand providing water bourn power for docking, undocking and taxiing; andan on board controller providing control to propeller rotation, the PARthrust fans and the underwater fan thrusters, the on board controllercontrolling surface maneuvering, taxiing and flying said UWIG.
 22. AUWIG as in claim 21 further comprising: one or more cargo storagecompartments contained within said seaworthy fuselage; and one or moreengines fueled with marine fuel and driving said pair of rear mountedpropellers, said pair of rear mounted propellers providing airbornepropulsion.
 23. A UWIG as in claim 21 wherein said pair of wings arereverse swept gull wings.
 24. A UWIG as in claim 21 wherein said PARthrust fans are environmentally sealed and provide PAR thrust duringtakeoff.
 25. A UWIG as in claim 21, further comprising a wirelesscommunications transceiver, messages to said wireless communicationstransceiver selectively indicating assignment of a new cargo shipment,said on board controller waking on board units and initiatingtransporting said new cargo.
 26. A UWIG as in claim 25, new shipmentmessages indicating assignment of a new cargo shipment, said at leastone on board controller selectively initiating transporting said newcargo responsive to an indicated assignment.
 27. A UWIG as in claim 25,wherein said UWIG is remote controlled (RC), RC being providedwirelessly through said wireless communications transceiver.
 28. A UWIGas in claim 25, said wireless communications transceiver wirelesslycommunicating with origination ports and destination port, andselectively initiating loading and unloading cargo.
 29. A UWIG as inclaim 28, said wireless communications transceiver wirelesslycommunicating with a cargo transportation service, selected messagesfrom said cargo transportation service being said new shipment messages.30. A UWIG as in claim 29, wherein said UWIG is fully autonomous, saidUWIG providing progress updates to said cargo transportation servicewirelessly through said wireless communications transceiver.
 31. A UWIGas in claim 30, wherein said UWIG wirelessly, selectively providesremote controlled (RC) to cargo loaders during loading and unloading,and said underwater fan thrusters provide water bourn power for docking,undocking and taxiing.